A Parallel Reconfigurable Robot with Six Degrees of Freedom

Abstract:

Shorter development times, wide variety of products and manufacturing costs optimization lead towards the development of a new type of robots that are more flexible and adaptable to all these changes. The idea of reconfiguration is thus born, many studies being focused on enlarging and improving this concept. Reconfigurable robotic systems are those that can change their geometry, their mobility degree and be default, their workspace and their applicability. This paper presents a 6 degrees of freedom (DOF) reconfigurable robot, entitled RECROB, its kinematics and possible reconfigurations with different DOFs. Based on the analysis of structure two possible configurations are identified, one of them being modeled and simulated. The paper ends with the reachable workspace representation, conclusions and applicability of such a robot.

• Periodical: Applied Mechanics and Materials (Volume 162)
• Pages: 204-213
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.162.204
• Online since: March 2012
• Authors: Calin Vaida, Nicolae Plitea, Dorin Lese, Doina Liana Pisla
• Keywords: Kinematics, Parallel Robot, Reconfigurable Structure, Simulation, Workspace

References

[1] Z. M. Bi, Y. T. Lang, M. Verner, P. Orban, Development of reconfigurable machines, Int. J. Adv. Manuf. Technol, 39 (2007) 1227-1251.

DOI: 10.1007/s00170-007-1288-1

[2] I-M. Chen, G. Yang, S.H. Yeo, Automatic Modeling for Modular Reconfigurable Robotic Systems – Theory and Practice, in Sam Cubero (Ed. ), Industrial Robotics: Theory, Modelling and Control, (2006) 43-81.

DOI: 10.5772/5017

[3] A.K. Dash, I-M. Chen, S.H. Yeo, G. Yang, Task – Oriented Configuration for Reconfigurable Parallel Manipulator Systems, International Journal of Computer Integrated Manufacturing, 18 (2005) 615-634.

DOI: 10.1080/09511920500069192

[4] X. Ping, X.J. Zhu, Y. Q. Fei, Mechanical Design and Locomotion Control of a Homogenous Lattice Modular Self-Reconfigurable Robot, Journal of Zhejian University – Science A, 7 (2006) 368-373.

DOI: 10.1631/jzus.2006.a0368

[5] S. Behnam, M. Moll, W.M. Shen, A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, China, (2006).

DOI: 10.1109/iros.2006.281719

[6] Y. Zhang, C. Eldershaw, M. Yim, K. Roufas, D. Duff, A platform for Studying Locomotion systems: Modular reconfigurable Robots, NIST W. on Performance Metrics for Int. Syst (2002).

[7] Z. M. Bi, L. Wang, Optimal design of Reconfigurable Parallel Machining Systems, Robotics and Computer – Integrated Manufacturing, 25 (2009) 951 -961.

DOI: 10.1016/j.rcim.2009.04.004

[8] D. Finistauri, F. Xi, B. Petz, Architecture design and Optimization of an On-the-Fly Reconfi-gurable Parallel Robot, Parallel Manipulators, Towards New Applications, (2008) 379-404.

DOI: 10.5772/5440

[9] G. Gogu, Isogliden TaRb: a Family of up to Five Axes Reconfigurable and Maximally Regu-lar Parallel Kinematic Machines, Int. Conf. on Smart Machining Systems, (2007).

[10] G. Yang, I. -M. Chen, W.K. Lim, S.H. Yeo, Design and Kinematic Analysis of Modular Reconfigurable Parallel Robots, Proceedings of the 1999 IEEE International Conference on Robotics & Automation, 4 (1999) 2501-2506.

DOI: 10.1109/robot.1999.773973

[11] Mărgineanu, D., Lovasz, E. -C., Modler, K -H., Perju, D., Noll, C., Mandiuc, M., On the 3D Crawling Mechanical Structure. 12th IFToMM World Congress, Besançon (France). (2007).

[12] E. Colon, P. Alexandre, J. Weemaels, I. Doroftei, Development of a high mobility wheeled robot for humanitarian mine clearance, SPIE Conference on Robotic and Semi-Robotic Ground Vehicle Technology , DOI: 10. 1117/12. 317539, 3366 (1998) 100-107.

DOI: 10.1117/12.317539

[13] J. Choi, et. al., Dynamic and stable reconfiguration of self-reconfigurable planar parallel robots, Advanced Robotics, 18 (2004) 565-582.

DOI: 10.1163/1568553041257440

[14] D. Pisla, N. Plitea, A. Vidrean, B. Prodan, D. Lese, Kinematics and Design of Two Variants of a Reconfigurable Parallel Robot, Reconfigurable Mechanisms and Robots, REMAR, (2009) 565-572.

DOI: 10.1007/978-90-481-3522-6_47

[15] N. Plitea, et. al. Parallel robot family with six degrees of freedom, Patent nr. A/10013/(2011).

[16] D-B. Lese, N. Plitea, Modeling of a Parallel Reconfigurable Robot with Six Degrees of Mobility and Its Configurations with Five, Four, Three and Two Degrees of Mobility, Acta Tehnica Napocensis, Applied Mathematics and Mechanics, 54(1) (2011).

DOI: 10.4028/www.scientific.net/amm.162.204

[17] Plitea, N., Hesselbach, J., Pisla, D., Raatz, A., Vaida, C., Simnofske, M., Prodan, B., Burisch A., Vidrean A., Modeling of parallel microrobots with two to six degrees of freedom, Acta Technica Napocensis, Series: Machines Construction. Materials, 50 (2007).

DOI: 10.1002/pamm.200700781